Package org.mort11.led

Class LED

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.command.Subsystem

org.mort11.led.LED

public final class LED
extends edu.wpi.first.wpilibj.command.Subsystem

This class contains a subsystem for the LEDs. Several different commands can be run on the LED subsystem. Values for the LEDs are inverted. True turns an LED off, false turns it on.

Version:

05/31/2018

Author:

Joshua Ciffer

Constructor Summary

Constructors

Constructor	Description
LED()	Constructs a new LED Subsystem.

Method Summary

Modifier and Type	Method	Description
void	changeAllianceColor()	Changes the color from red to blue based on the robot's alliance.
void	changeIntakeColor()	If teleop mode is enabled, then the LEDs stay red by default.
void	endGameColors()	Randomly cycles through a bunch of different colors.
protected void	initDefaultCommand()	Sets the LEDs to be disabled by default.
void	setLEDCommand(edu.wpi.first.wpilibj.command.Command ledCommand)	Changes the command that the LEDs run when the robot is changed from teleop, to auton, to disabled.
void	turnOffAll()	Turns off all LEDs.
void	turnOnBlue()	Turns on blue LEDs.
void	turnOnGreen()	Turns on green LEDs.
void	turnOnRed()	Turns on red LEDs.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem

addChild, addChild, getCurrentCommand, getCurrentCommandName, getDefaultCommand, getDefaultCommandName, initSendable, periodic, setDefaultCommand, toString

Constructor Detail

LED

public LED()

Constructs a new LED Subsystem.

Method Detail

initDefaultCommand

protected void initDefaultCommand()

Sets the LEDs to be disabled by default.

Specified by:

initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem

turnOnRed

public void turnOnRed()

Turns on red LEDs.

turnOnGreen

public void turnOnGreen()

Turns on green LEDs.

turnOnBlue

public void turnOnBlue()

Turns on blue LEDs.

turnOffAll

public void turnOffAll()

Turns off all LEDs.

changeIntakeColor

public void changeIntakeColor()

If teleop mode is enabled, then the LEDs stay red by default. If the switch in the intake is pressed (cube is in the intake), then the LEDs change to green.

changeAllianceColor

public void changeAllianceColor()

Changes the color from red to blue based on the robot's alliance.

endGameColors

public void endGameColors()

Randomly cycles through a bunch of different colors.

setLEDCommand

public void setLEDCommand(edu.wpi.first.wpilibj.command.Command ledCommand)

Changes the command that the LEDs run when the robot is changed from teleop, to auton, to disabled. -Teleop mode: IntakeColorChanger() -Auton mode: ChangeAllianceColor() -Disabled mode: DisableLEDs() -End game: CycleEndGameColors() getCurrentCommand().cancel() could throw a NullPointerException if there is no current command assigned to the subsystem, so a try and catch statement is necessary. If there is no current command assigned to the subsystem, then no other action required.

Parameters:

ledCommand - The command to run on the LEDs.